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Robotic tasks involving contact interactions pose significant challenges for trajectory optimization due to discontinuous dynamics. Conventional formulations typically assume deterministic contact events, which limit robustness and…
We present a model predictive controller (MPC) that automatically discovers collision-free locomotion while simultaneously taking into account the system dynamics, friction constraints, and kinematic limitations. A relaxed barrier function…
The sudden appearance of occluded pedestrians presents a critical safety challenge in autonomous driving. Conventional rule-based or purely data-driven approaches struggle with the inherent high uncertainty of these long-tail scenarios. To…
This paper explores a physical human-robot collaboration (pHRC) task involving the joint insertion of a board into a frame by a sightless robot and a human operator. While admittance control is commonly used in pHRC tasks, it can be…
Human-AI shared control allows human to interact and collaborate with AI to accomplish control tasks in complex environments. Previous Reinforcement Learning (RL) methods attempt the goal-conditioned design to achieve human-controllable…
This work presents a multi-sensory anti-collision system design to achieve robust autonomous exploration capabilities for a swarm of 10 cm-side nano-drones operating on object detection missions. We combine lightweight single-beam laser…
Inter-robot collisions pose a significant safety risk when multiple robotic arms operate in close proximity. We present an online collision avoidance methodology leveraging High-Order Control Barrier Functions (HOCBFs) constructed for safe…
Bringing dynamic robots into the wild requires a tenuous balance between performance and safety. Yet controllers designed to provide robust safety guarantees often result in conservative behavior, and tuning these controllers to find the…
Task-space Passivity-Based Control (PBC) for manipulation has numerous appealing properties, including robustness to modeling error and safety for human-robot interaction. Existing methods perform poorly in singular configurations, however,…
Navigating large and complex indoor environments, such as universities, airports, and hospitals, can be cognitively demanding and requires attention and effort. While mobile applications provide convenient navigation support, they occupy…
Lane change for autonomous vehicles (AVs) is an important but challenging task in complex dynamic traffic environments. Due to difficulties in guarantee safety as well as a high efficiency, AVs are inclined to choose relatively conservative…
Many robots are not equipped with a manipulator and many objects are not suitable for prehensile manipulation (such as large boxes and cylinders). In these cases, pushing is a simple yet effective non-prehensile skill for robots to interact…
This paper presents a novel solution to address the challenges in achieving energy efficiency and cooperation for collision avoidance in UAV swarms. The proposed method combines Artificial Potential Field (APF) and Particle Swarm…
We present a novel learning-based collision avoidance algorithm, CrowdSteer, for mobile robots operating in dense and crowded environments. Our approach is end-to-end and uses multiple perception sensors such as a 2-D lidar along with a…
The field of physical human-robot interaction has dramatically evolved in the last decades. As a result, the robotic system's requirements have become more challenging, including personalized behavior for different tasks and users. Various…
We study a novel principle for safe and efficient collision avoidance that adopts a mathematically elegant and general framework abstracting as much as possible from the controlled vehicle's dynamics and of its environment. Vehicle dynamics…
Hybrid rigid-soft robots combine the precision of rigid manipulators with the compliance and adaptability of soft arms, offering a promising approach for versatile grasping in unstructured environments. However, coordinating hybrid robots…
This paper proposes a new algorithm for collision-free coverage control of multiple non-cooperating swarms in the presence of bounded disturbances. A new methodology is introduced that accounts for uncertainties in disturbance measurements.…
The successful implementation of Physical Human-Robot Interaction in industrial environments depends on ensuring safe collaboration between human operators and robotic devices. This necessitates the adoption of measures that guarantee the…
We propose a method to tackle the problem of mapless collision-avoidance navigation where humans are present using 2D laser scans. Our proposed method uses ego-safety to measure collision from the robot's perspective while social-safety to…